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<div class="title">rops_estimation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Sergey Ushakov</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : sergey.s.ushakov@mail.ru</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_ROPS_ESIMATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_ROPS_ESIMATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/PolygonMesh.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_o_p_s_estimation.html">   55</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_r_o_p_s_estimation.html">ROPSEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">pcl::Feature</a> &lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature &lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature &lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature &lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature &lt;PointInT, PointOutT&gt;::tree_</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::Feature &lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::Feature &lt;PointInT, PointOutT&gt;::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <a class="code" href="classpcl_1_1_r_o_p_s_estimation.html">ROPSEstimation</a> ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      ~<a class="code" href="classpcl_1_1_r_o_p_s_estimation.html">ROPSEstimation</a> ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      setNumberOfPartitionBins (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_bins);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      getNumberOfPartitionBins () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      setNumberOfRotations (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> number_of_rotations);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      getNumberOfRotations () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      setSupportRadius (<span class="keywordtype">float</span> support_radius);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keywordtype">float</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      getSupportRadius () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      setTriangles (<span class="keyword">const</span> std::vector &lt;pcl::Vertices&gt;&amp; triangles);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      getTriangles (std::vector &lt;pcl::Vertices&gt;&amp; triangles) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      computeFeature (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&amp; output);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      buildListOfPointsTriangles ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      getLocalSurface (<span class="keyword">const</span> PointInT&amp; point, std::set &lt;unsigned int&gt;&amp; local_triangles, std::vector &lt;int&gt;&amp; local_points) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      computeLRF (<span class="keyword">const</span> PointInT&amp; point, <span class="keyword">const</span> std::set &lt;unsigned int&gt;&amp; local_triangles, Eigen::Matrix3f&amp; lrf_matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      computeEigenVectors (<span class="keyword">const</span> Eigen::Matrix3f&amp; matrix, Eigen::Vector3f&amp; major_axis, Eigen::Vector3f&amp; middle_axis,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                           Eigen::Vector3f&amp; minor_axis) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      transformCloud (<span class="keyword">const</span> PointInT&amp; point, <span class="keyword">const</span> Eigen::Matrix3f&amp; matrix, <span class="keyword">const</span> std::vector &lt;int&gt;&amp; local_points, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; transformed_cloud) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      rotateCloud (<span class="keyword">const</span> PointInT&amp; axis, <span class="keyword">const</span> <span class="keywordtype">float</span> angle, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; cloud, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; rotated_cloud,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                   Eigen::Vector3f&amp; min, Eigen::Vector3f&amp; max) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      getDistributionMatrix (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> projection, <span class="keyword">const</span> Eigen::Vector3f&amp; min, <span class="keyword">const</span> Eigen::Vector3f&amp; max, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; cloud, Eigen::MatrixXf&amp; matrix) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      computeCentralMoments (<span class="keyword">const</span> Eigen::MatrixXf&amp; matrix, std::vector &lt;float&gt;&amp; moments) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
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<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class pcl::ROPSEstimation&lt;InT, OutT&gt;;</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
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<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
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<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html">pcl::ROPSEstimation</a></div><div class="ttdoc">This class implements the method for extracting RoPS features presented in the article &quot;Rotational Pr...</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_a168547a89860e5eeaef538c15f00b480"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#a168547a89860e5eeaef538c15f00b480">pcl::ROPSEstimation::triangles_of_the_point_</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; unsigned int &gt; &gt; triangles_of_the_point_</div><div class="ttdoc">Stores the set of triangles for each point. Its purpose is to improve perfomance.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_a2a14c383c07c3a6196d42ecd6984385a"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#a2a14c383c07c3a6196d42ecd6984385a">pcl::ROPSEstimation::step_</a></div><div class="ttdeci">float step_</div><div class="ttdoc">Stores the angle step. Step is calculated with respect to number of rotations.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:216</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_a2a373d8bc24405a8dafbd3ab92d8440c"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#a2a373d8bc24405a8dafbd3ab92d8440c">pcl::ROPSEstimation::support_radius_</a></div><div class="ttdeci">float support_radius_</div><div class="ttdoc">Support radius that is used to crop the local surface of the point.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_a595bd7c0e64a67a7fe973a75931dc75e"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#a595bd7c0e64a67a7fe973a75931dc75e">pcl::ROPSEstimation::number_of_rotations_</a></div><div class="ttdeci">unsigned int number_of_rotations_</div><div class="ttdoc">Stores number of rotations. Central moments are calculated for every rotation.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:207</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_a5b86b3456270bbddb316b825aeed0a15"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#a5b86b3456270bbddb316b825aeed0a15">pcl::ROPSEstimation::number_of_bins_</a></div><div class="ttdeci">unsigned int number_of_bins_</div><div class="ttdoc">Stores the number of partition bins that is used for distribution matrix calculation.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_a809925109c0af7b91b1c1f676c819ba1"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#a809925109c0af7b91b1c1f676c819ba1">pcl::ROPSEstimation::sqr_support_radius_</a></div><div class="ttdeci">float sqr_support_radius_</div><div class="ttdoc">Stores the squared support radius. Used to improve performance.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_r_o_p_s_estimation_html_ad3796202a3ced265e0a982333dc14a51"><div class="ttname"><a href="classpcl_1_1_r_o_p_s_estimation.html#ad3796202a3ced265e0a982333dc14a51">pcl::ROPSEstimation::triangles_</a></div><div class="ttdeci">std::vector&lt; pcl::Vertices &gt; triangles_</div><div class="ttdoc">Stores the set of triangles reprsenting the mesh.</div><div class="ttdef"><b>Definition:</b> rops_estimation.h:219</div></div>
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